JP4805129B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

2. Description of the Related Art Conventionally, there has been known a motor that includes a first permanent magnetic pole piece and a second permanent magnetic pole piece whose mutual phase positions can be changed by servo pressure, for example, and whose field magnetic flux amount can be changed (see, for example, Patent Document 1). ).
JP-A-55-153300

By the way, in the motor according to an example of the above prior art, for example, when changing the phase position of each permanent magnetic pole piece by servo pressure such as hydraulic pressure, according to the arrangement state of each permanent magnetic pole piece, the rotation state of the motor, etc. When this phase position reaches an appropriate value, application of servo pressure may become unnecessary. However, if the apparatus configuration is simplified by omitting an appropriate sensor (for example, a resolver or the like) that directly detects information on the phase position, it is possible to appropriately determine whether or not to apply servo pressure. It becomes difficult and the problem that the energy consumption in an apparatus cannot be reduced arises.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a motor control device capable of improving the energy efficiency when changing the induced voltage constant of the motor by the fluid pressure of the working fluid.

  In order to solve the above-described problems and achieve the object, a motor control device according to a first aspect of the present invention includes a plurality of rotors that can change relative phases of each other (for example, the outer circumferential rotor in the embodiment). 5 and an inner circumferential rotor 6), and a motor control device comprising phase changing means (for example, phase changing means 12 in the embodiment) for changing the relative phase by the fluid pressure of the working fluid. The phase changing means includes an actuator that controls the fluid pressure in response to a change request for the relative phase (for example, the electromagnetic solenoid 37b in the embodiment), and a pressure detecting means that detects the fluid pressure (for example, The surge of the fluid pressure is detected according to the detection result of the pressure sensor 84) and the pressure detection means in the embodiment, and the relative phase reaches a predetermined variable threshold phase based on the detection result of the surge. Determination means for determining whether the not (e.g., variable 閾位 phase determination unit 61 in the embodiment) is characterized by comprising a.

Furthermore , the variable threshold phase is characterized in that the electrical angle is an angle larger than 180 ° by a predetermined angle.

Further , the induced voltage constant is gradually changed in accordance with the change of the relative phase, and when it is determined that the relative phase has reached the variable threshold phase in the determination result of the determination means, the induced voltage constant is set to a predetermined value. An induced voltage constant changing means (for example, an induced voltage constant calculating unit 62 in the embodiment) for setting a value is provided.

Furthermore, in the motor control device according to the second aspect of the present invention, the induced voltage constant changing means starts changing the induced voltage constant after the time when the fluid pressure reaches or exceeds a predetermined pressure. .

Furthermore, in the motor control device according to the third aspect of the present invention, the phase changing means includes a housing (for example, a single unit provided on one of the rotors (for example, the inner circumferential rotor 6 in the embodiment)). The annular housing 15) in the embodiment and the other rotor (for example, the outer rotor 5 in the embodiment) are provided integrally with the pressure chamber (for example, the advance side in the embodiment) with the housing. A vane rotor that forms a working chamber 24 and a retarded-side working chamber 25) and changes a relative phase with respect to the housing by a fluid pressure of the working fluid introduced into the pressure chamber (for example, the vane rotor 14 in the embodiment) And an end plate (for example, the drive plate in the embodiment) that transmits the driving force of the other rotor to the output shaft (for example, the rotation shaft 4 in the embodiment). 16) is fixed to both ends of the other rotor and the vane rotor in the axial direction, and is surrounded by a space between the other rotor, the vane rotor, and both end plates (for example, the introduction space 23 in the embodiment) One of the rotor and the housing are arranged so as to be rotatable in the circumferential direction.

Furthermore, in the motor control device according to the fourth aspect of the present invention, the vane portion (for example, the vane portion 18 in the embodiment) formed in the vane rotor is a recess portion (for example, the recess portion 19 in the embodiment) formed in the housing. The pressure chamber is formed by the blade portion and the concave portion.

Furthermore, in the motor control device according to the fifth aspect of the present invention, the end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the vane portions of the vane rotor. .

Furthermore, in the motor control device of the invention according to claim 6 , end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the output shaft.

  According to the motor control device of the present invention described in claim 1, in the actuator for controlling the fluid pressure, when a movable part such as a cylinder or a vane reaches the stroke end, a surge in which the fluid pressure rapidly increases is generated. Thus, it is possible to detect that the movable part of the actuator has reached the stroke end by detecting the occurrence of this surge. Accordingly, by setting the movable part of the actuator to reach the stroke end when the relative phase of the plurality of rotors reaches a predetermined variable threshold phase, the relative detection is performed based on the fluid pressure detection result by the pressure detection means. It can be determined whether the phase has reached a predetermined variable threshold phase.

Furthermore , the variable threshold phase of the relative phase is set to an angle that is larger than the electrical angle by a predetermined angle than 180 °, and the relative torque of the plurality of rotors is set so as to be reversed at the relative phase of 180 ° in electrical angle. Thus, after the time when the relative phase reaches the variable threshold phase, the relative phase can be maintained by the negative relative torque, and the application of fluid pressure by the actuator becomes unnecessary, and the energy consumption of the actuator can be reduced. it can.

Further , it is possible to accurately determine whether or not it is necessary to apply the fluid pressure by the actuator without directly detecting the relative phase at an appropriate timing.
Furthermore, according to the motor control device of the invention described in claim 2 , the change of the induced voltage constant, that is, the change of the relative phase is started by starting the change of the induced voltage constant after the time when the fluid pressure reaches the predetermined pressure or more. It is possible to prevent the desired fluid pressure required for the process from becoming insufficient.

Further, according to the motor control device of the invention described in claim 3 , the phase changing means includes a housing integrally provided on any one of the plurality of rotors, and any one rotor of the plurality of rotors. The motor is complicated by using a simple vane actuator that has a vane rotor that is provided integrally and that forms a pressure chamber with the housing and changes the relative phase with respect to the housing by the working fluid pressure introduced into the pressure chamber. It is possible to make the induced voltage constant variable easily and appropriately and at a desired timing while reliably suppressing the occurrence.

  In addition, an end plate that transmits the driving force of the other rotor to the output shaft is fixed to both end sides in the axial direction of the other rotor and the vane rotor. Since the one rotor and the housing are arranged so as to be rotatable in the circumferential direction, the pressure of the working fluid is caused to be a relative phase between the housing and the vane rotor integrally provided inside the one rotor, That is, it can be used mainly for changing the relative phase between one rotor and the other rotor. Therefore, the pressure that needs to be generated by the working fluid can be kept low.

Furthermore, according to the motor control device of the invention described in claim 4 , when the working fluid pressure is introduced into the pressure chamber defined by the vane portion of the vane rotor and the concave portion of the housing, the housing is arranged in a direction in which the pressure chamber expands. The relative phase between the rotor and the vane rotor is changed. As a result, the relative phase between one rotor integrally provided on the outside of the housing and the other rotor integrally provided on the vane rotor is changed. The phase will be changed.

Furthermore, according to the motor control device of the invention described in claim 5 , since the end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the vane portion of the vane rotor, It is possible to suppress the working fluid from passing through the gap with the end plate, and it is possible to suppress the deformation of the blade portion and the displacement of the blade portion on the tip side due to this deformation.

Furthermore, according to the motor control device of the invention described in claim 6 , since the end plates fixed to the both axial ends of the other rotor are respectively fixed integrally with the output shaft, The other rotor, vane rotor, and both end plates are supported by both ends. Therefore, the other rotor, vane rotor, and both end plates can be favorably supported.

Embodiments of a motor control device according to the present invention will be described below with reference to the accompanying drawings.
The motor control device according to this embodiment is mounted as a control device in a vehicle such as a hybrid vehicle or an electric vehicle including a motor as a travel drive source. Specifically, as shown in FIG. 1, a vehicle 100 equipped with a control device 100a is a parallel hybrid vehicle including a motor 1 and an internal combustion engine E as drive sources, and includes the motor 1, the internal combustion engine E, a transmission T. / M is directly connected in series, and at least the driving force of the motor 1 or the internal combustion engine E is transmitted to the driving wheels W of the vehicle 100 via the clutch C and the transmission T / M.

When the driving force is transmitted from the driving wheel W side to the motor 1 during deceleration of the vehicle 100, the motor 1 functions as a generator to generate a so-called regenerative braking force and convert the kinetic energy of the vehicle body into electric energy ( Recovered as regenerative energy). Also, when the output of the internal combustion engine E is transmitted to the motor 1, the motor 1 functions as a generator and generates power generation energy.
Here, the vehicle 100 provided with the control device 100a is provided with various sensors such as an accelerator pedal opening sensor (not shown), a brake pedal switch sensor (not shown), a wheel speed sensor NW, an oil temperature sensor To, and the like. The control device 100a outputs control commands to the control systems of the internal combustion engine E, the motor 1, the clutch C, and the transmission T / M based on the detection results of these various sensors.

As shown in FIGS. 2 to 5, for example, the motor 1 is an inner rotor type brushless motor in which a rotor unit 3 is disposed on the inner peripheral side of an annular stator 2.
The stator 2 has a multi-phase stator winding 2a, and the rotor unit 3 has a rotating shaft 4 at the shaft core. The rotational force of the motor 1 is transmitted to the drive wheels W via the clutch C and the transmission T / M.

  The rotor unit 3 includes, for example, an annular outer circumferential rotor 5 and an annular inner circumferential rotor 6 disposed coaxially inside the outer circumferential rotor 5. The circumferential rotor 6 is relatively rotatable within a predetermined set angle range.

  The outer circumferential rotor 5 and the inner circumferential rotor 6 are formed by, for example, sintered rotor cores 7 and 8 made of sintered metal, which are the main bodies of the rotors, being biased toward the outer circumferential side of the rotor cores 7 and 8. In this position, a plurality of magnet mounting slots 7a and 8a are formed at equal intervals in the circumferential direction. In each of the magnet mounting slots 7a and 8a, two flat plate-like permanent magnets 9 and 9 magnetized in the thickness direction are mounted in parallel. Two permanent magnets 9, 9 mounted in the same magnet mounting slot 7a, 8a are magnetized in the same direction, and a pair of permanent magnets 9 mounted in each adjacent magnet mounting slot 7a, 7a and 8a, 8a. The magnetic poles are set so that the directions of the magnetic poles are opposite to each other. That is, in each of the rotors 5 and 6, a pair of permanent magnets 9 whose outer peripheral side is an N pole and a pair of permanent magnets 9 that are an S pole are alternately arranged in the circumferential direction. Note that the flow of magnetic flux of the permanent magnet 9 is controlled between the adjacent magnet mounting slots 7a, 7a and 8a, 8a on the outer peripheral surfaces of the rotors 5, 6 (for example, suppression of magnetic path short-circuiting, etc.) ) Is formed along the axial direction of the rotors 5 and 6.

  The same number of magnet mounting slots 7a, 8a of the outer rotor 5 and inner rotor 6 are provided, and the permanent magnets 9,..., 9 of the rotors 5, 6 correspond to each other on a one-to-one basis. ing. Therefore, by making the pair of permanent magnets 9 in each of the magnet mounting slots 7a and 8a of the outer peripheral rotor 5 and the inner peripheral rotor 6 face each other with the same polarity (with different polar arrangement), the rotor unit 3 is capable of obtaining a field-weakening state (see, for example, FIG. 5 and FIG. 6B) in which the entire field is weakened, and mounting the outer rotor 5 and inner rotor 6 with magnets. The pair of permanent magnets 9 in the slots 7a and 8a are opposed to each other with different polarities (with the same polarity), so that the field of the entire rotor unit 3 is strengthened most strongly (for example, FIG. 3, FIG. 6 (a)) can be obtained.

The rotor unit 3 includes a rotation mechanism 11 for relatively rotating the outer peripheral rotor 5 and the inner peripheral rotor 6. The rotating mechanism 11 constitutes a part of phase changing means 12 for arbitrarily changing the relative phase of the rotors 5 and 6, and is a working fluid (for example, an incompressible working fluid) It may be operated by the pressure of transmission T / M lubricating oil, engine oil or the like.
For example, as shown in FIG. 7, the phase changing unit 12 includes a rotation mechanism 11 and a hydraulic control device 13 that controls the pressure of the hydraulic fluid supplied to the rotation mechanism 11 as main elements. Yes.

  As shown in FIGS. 2 to 5, for example, the rotating mechanism 11 is disposed on the outer periphery of the vane rotor 14 so as to be relatively rotatable on the outer periphery of the vane rotor 14. And the annular housing 15 is integrally fitted and fixed to the inner peripheral surface of the inner circumferential rotor 6, and the vane rotor 14 is disposed on both sides of the annular housing 15 and the inner circumferential rotor 6. It is integrally coupled to the outer circumferential rotor 5 via a pair of disk-shaped drive plates 16, 16 straddling the end portions. Therefore, the vane rotor 14 is integrated with the rotary shaft 4 and the outer peripheral rotor 5, and the annular housing 15 is integrated with the inner peripheral rotor 6.

In the vane rotor 14, a plurality of blade portions 18 projecting radially outward are provided at equal intervals in the circumferential direction on the outer periphery of a cylindrical boss portion 17 that is spline-fitted to the rotary shaft 4. On the other hand, the annular housing 15 is provided with a plurality of concave portions 19 on the inner peripheral surface at equal intervals in the circumferential direction, and the corresponding blade portions 18 of the vane rotor 14 are accommodated in the concave portions 19. Each recess 19 is configured by a bottom wall 20 having an arc surface that substantially matches the rotational trajectory of the tip of the blade 18 and a substantially triangular protrusion 21 that separates the adjacent recesses 19, 19. When the relative rotation of 14 and the annular housing 15 is performed, the blade portion 18 can be displaced between the one projecting portion 21 and the other projecting portion 21.
In this embodiment, the projecting portion 21 also functions as a regulating member that regulates the relative rotation of the vane rotor 14 and the annular housing 15 by contacting the blade portion 18. A seal member 22 is provided along the axial direction at the tip of each blade 18 and the tip of the protrusion 21, and the blade 18 and the bottom wall 20 of the recess 19 protrude from these seal members 22. The space between the outer peripheral surface of the portion 21 and the boss portion 17 is liquid-tightly sealed.

  Further, the base portion 15a of the annular housing 15 fixed to the inner peripheral rotor 6 is formed in a cylindrical shape having a constant thickness, and for example, as shown in FIG. On the other hand, it protrudes outward in the axial direction. Each end projecting outward of the base portion 15a is slidably held in an annular guide groove 16a formed in the drive plate 16, and the annular housing 15 and the inner circumferential rotor 6 are connected to the outer circumferential rotor. 5 and the rotating shaft 4 are supported in a floating state.

The drive plates 16 and 16 on both sides connecting the outer rotor 5 and the vane rotor 14 are slidably in close contact with both side surfaces (both end surfaces in the axial direction) of the annular housing 15, and the side of each recess 19 of the annular housing 15. Respectively. Therefore, each recessed part 19 forms the independent space part by the boss | hub part 17 of the vane rotor 14, and the drive plates 16 and 16 of both sides, and this space part is the introduction space 23 into which a hydraulic fluid is introduce | transduced. Each introduction space 23 is divided into two chambers by corresponding vane portions 18 of the vane rotor 14, one chamber being an advance side working chamber 24 and the other chamber being a retard side working chamber 25. .
The advance side working chamber 24 rotates the inner circumferential side rotor 6 relative to the outer circumferential side rotor 5 in the advance direction by the pressure of the working fluid introduced inside, and the retard side working chamber 25 is The inner rotor 6 is rotated relative to the outer rotor 5 in the retard direction by the pressure of the working fluid introduced therein. In this case, “advance angle” means that the inner rotor 6 is advanced in the rotation direction of the motor 1 indicated by the arrow R in FIGS. 3 and 5 with respect to the outer rotor 5. The term “angle” refers to advancing the inner rotor 6 to the opposite side of the rotation direction R of the motor 1 with respect to the outer rotor 5.

  Further, the supply and discharge of the hydraulic fluid to and from each of the advance side working chambers 24 and the retard side working chambers 25 is performed through the rotating shaft 4. Specifically, the advance side working chamber 24 is connected to, for example, the advance side supply / discharge passage 26 of the hydraulic control device 13 shown in FIG. 7, and the retard side working chamber 25 is connected to the retard side of the hydraulic control device 13. It is connected to the supply / discharge passage 27. Furthermore, a part of the advance side supply / exhaust passage 26 and the retard side supply / exhaust passage 27 are constituted by passage holes 26a and 27a formed along the axial direction of the rotary shaft 4 as shown in FIG. Has been. The end portions of the passage holes 26a and 27a are respectively connected to an annular groove 26b and an annular groove 27b formed at two positions offset in the axial direction of the outer peripheral surface of the rotary shaft 4, and the respective annular grooves 26b and 27b. Are connected to a plurality of conduction holes 26c, ..., 26c, 27c, ..., 27c formed in the boss portion 17 of the vane rotor 14 along the substantially radial direction. Each conduction hole 26c of the advance side supply / discharge passage 26 connects the annular groove 26b and each advance side working chamber 24, and each conduction hole 27c of the retard side supply / exhaust passage 27 connects to the annular groove 27b and each retard side. The working chamber 25 is connected.

In the motor 1 of this embodiment, when the inner rotor 6 is at the most retarded position with respect to the outer rotor 5, the permanent magnets 9 of the outer rotor 5 and the inner rotor 6 are When the different poles face each other and are in a strong field state (see, for example, FIG. 3 and FIG. 6A) and the inner circumferential rotor 6 is at the most advanced angle position with respect to the outer circumferential rotor 5 In addition, the permanent magnets 9 of the outer circumferential rotor 5 and the inner circumferential rotor 6 are set so as to face each other with the same poles and to have a field weakening state (see, for example, FIGS. 5 and 6B). ing.
The motor 1 can arbitrarily change the state of the strong field and the state of the weak field by controlling the supply and discharge of the hydraulic fluid to the advance side working chamber 24 and the retard side working chamber 25. When the strength of the magnetic field is changed in this way, the induced voltage constant Ke changes accordingly, and as a result, the characteristics of the motor 1 are changed. That is, when the induced voltage constant Ke increases due to the strong field, the allowable rotational speed at which the motor 1 can be operated decreases, but the maximum torque that can be output increases, and conversely, the induced voltage constant Ke decreases due to the weak field. Then, although the maximum torque that can be output by the motor 1 decreases, the allowable rotational speed at which the motor 1 can operate increases.

For example, as shown in FIG. 7, the hydraulic control device 13 includes an electric oil pump (EOP) 32 that sucks up hydraulic fluid from an oil tank (not shown) and discharges the hydraulic fluid into a passage, and the hydraulic fluid discharged from the oil pump 32. Is adjusted and introduced into the high-pressure line passage 33, and the surplus hydraulic fluid is discharged to the low-pressure passage 34 for lubricating and cooling various devices, and the hydraulic fluid introduced into the line passage 33 Is switched to the advance-angle side supply / discharge passage 26 and the retard-angle side supply / discharge passage 27, and the flow path is switched to discharge unnecessary hydraulic fluid to the drain passage 36 through the advance-angle supply / discharge passage 26 and the retard-side supply / discharge passage 27. And a valve 37.
The regulator valve 35 receives the pressure of the line passage 33 as a control pressure, and distributes the hydraulic fluid according to the balance with the reaction force spring 38.
Further, the flow path switching valve 37 has an electromagnetic solenoid 37b for moving the control spool 37a forward and backward, and the electromagnetic solenoid 37b is controlled by the control device 100a.

  As shown in FIG. 1, for example, the control device 100 a includes a motor control unit 40, a PDU (power drive unit) 41, and a battery 42.

The PDU 41 includes, for example, a PWM inverter that performs pulse width modulation (PWM) using a bridge circuit in which transistor switching elements are bridge-connected, and is connected to a high-voltage battery 42 that exchanges electric energy with the motor 1. .
The PWM inverter forms a pair for each phase in the PWM inverter based on a gate signal (that is, a pulse width modulation signal) that is a switching command input from the motor control unit 40 when the motor 1 is driven, for example. By switching the on / off (cutoff) state of each transistor, the DC power supplied from the battery 42 is converted into three-phase AC power, and the energization to the stator winding 2a of the motor 1 is sequentially commutated. As a result, AC U-phase current Iu, V-phase current Iv and W-phase current Iw are applied to the stator winding 2a of each phase.

  For example, as shown in FIG. 1, the motor control unit 40 performs feedback control of current on the dq coordinates forming the rotation orthogonal coordinates. For example, an accelerator pedal opening that detects the accelerator opening degree related to the accelerator operation of the driver is performed. The d-axis target current Idc and the q-axis target current Iqc are calculated based on the torque command value Tq calculated based on the detection result of the degree sensor, and each phase output voltage is calculated based on the d-axis target current Idc and the q-axis target current Iqc. Vu, Vv, and Vw are calculated, and a PWM signal that is a gate signal is input to the PDU 41 according to each phase output voltage Vu, Vv, and Vw, and each phase current Iu, Iv that is actually supplied from the PDU 41 to the motor 1 , Iw, the d-axis current Id and the q-axis current Iq obtained by converting the two phase currents into currents on the dq coordinate, the d-axis target current Idc, and the q-axis target current Iqc. Each deviation is controlled to be zero.

  The motor control unit 40 includes, for example, a target current setting unit 51, a current deviation calculation unit 52, a field control unit 53, a power control unit 54, a current control unit 55, a dq-3 phase conversion unit 56, and a PWM. Signal generation unit 57, filter processing unit 58, three-phase-dq conversion unit 59, rotation speed calculation unit 60, variable threshold phase determination unit 61, induced voltage constant calculation unit 62, and induced voltage constant command output unit 63, an induced voltage constant difference calculation unit 64, and a phase control unit 65.

  The motor control unit 40 includes current sensors that detect a two-phase U-phase current Iu and a W-phase current Iw among the three-phase currents Iu, Iv, and Iw output from the PDU 41 to the motor 1. 81, 81, the detection signals Ius, Iws output from the voltage sensor 82 for detecting the terminal voltage (power supply voltage) VB of the battery 42, and the rotation angle θM of the rotor of the motor 1 (that is, The detection signal output from the rotation sensor 83 that detects the rotation angle of the magnetic poles of the rotor unit 3 from a predetermined reference rotation position), the advance side working chamber 24 and the retard side working chamber 25 of the phase changing means 12. Hydraulic fluid pressure or operation in a passage communicating with the advance side working chamber 24 and the retard side working chamber 25 (for example, the advance side supply / discharge passage 26 and the retard side supply / discharge passage 27 or the line passage 33). Check fluid pressure The detection signal (pressure detection value P) output from the pressure sensor 84, the detection signals output from the plurality of wheel speed sensors NW that detect the rotational speed (wheel speed) of each wheel of the vehicle 100, and the like are input. ing.

  The target current setting unit 51 is required according to the output of an accelerator pedal opening sensor that detects, for example, a torque command Tq (for example, a depression operation amount of the accelerator pedal AP by the driver) input from an external control device (not shown). Each phase current Iu, Iv supplied from the PDU 41 to the motor 1 on the basis of the command value for causing the motor 1 to generate torque to be generated) and the rotation speed NM of the motor 1 input from the rotation speed calculation unit 60. , Iw is calculated, and the current command is output to the current deviation calculation unit 52 as the d-axis target current Idc and the q-axis target current Iqc on the rotating orthogonal coordinates.

  The dq coordinate forming the rotation orthogonal coordinate is, for example, a field magnetic flux direction by the permanent magnet 9 of the outer rotor 5 of the rotor unit 3 as a d axis (field axis), and a direction orthogonal to the d axis is q. The shaft (torque shaft) is rotated in synchronization with the rotational phase of the rotor unit 3 of the motor 1. As a result, the d-axis target current Idc and the q-axis target current Iqc, which are DC signals, are given as current commands for the AC signal supplied from the PDU 41 to each phase of the motor 1.

The current deviation calculation unit 52 includes a d-axis current deviation calculation unit 52a that calculates a deviation ΔId between the d-axis target current Idc input with the d-axis correction current input from the field control unit 53 and the d-axis current Id, The q-axis target current Iqc to which the q-axis correction current input from the control unit 54 is added, and a q-axis current deviation calculation unit 52b that calculates a deviation ΔIq from the q-axis current Iq are configured.
The field control unit 53 controls the current phase so that the field amount of the rotor unit 3 is equivalently weakened in order to suppress an increase in the counter electromotive voltage accompanying an increase in the rotational speed NM of the motor 1, for example. The target value for the field weakening current of the field control is output to the d-axis current deviation calculation unit 52a as the d-axis correction current.
The power control unit 54 also outputs a q-axis correction current for correcting the q-axis target current Iqc to the q-axis current deviation calculation unit 52b according to appropriate power control according to the remaining capacity of the battery 42, for example. .

  The current control unit 55 controls and amplifies the deviation ΔId to calculate the d-axis voltage command value Vd by, for example, a PI (proportional integration) operation according to the rotation speed NM of the motor 1, and controls and amplifies the deviation ΔIq to q-axis. A voltage command value Vq is calculated.

  The dq-3 phase conversion unit 56 uses the rotation angle θM of the rotor unit 3 input from the rotation speed calculation unit 60 to convert the d-axis voltage command value Vd and the q-axis voltage command value Vq on the dq coordinate, The voltage is converted into a U-phase output voltage Vu, a V-phase output voltage Vv, and a W-phase output voltage Vw, which are voltage command values on the three-phase AC coordinates that are stationary coordinates.

  The PWM signal generator 57 turns on each switching element of the PWM inverter of the PDU 41 by pulse width modulation based on, for example, sinusoidal phase output voltages Vu, Vv, Vw, a triangular wave carrier signal, and a switching frequency. A gate signal (that is, a PWM signal) that is a switching command including each pulse to be driven off / off is generated.

  The filter processing unit 58 performs filter processing such as removal of high-frequency components on the detection signals Ius and Iws for the respective phase currents detected by the respective current sensors 81 and 81 to obtain the respective phase currents Iu and Iw as physical quantities. Extract.

  The three-phase-dq conversion unit 59 uses the phase currents Iu and Iw extracted by the filter processing unit 58 and the rotation angle θM of the rotor unit 3 input from the rotation number calculation unit 60 to rotate the rotation phase of the motor 1. The d-axis current Id and the q-axis current Iq on the rotation coordinates by dq, that is, the dq coordinates are calculated.

  The rotation speed calculation unit 60 extracts the rotation angle θM of the rotor unit 3 of the motor 1 from the detection signal output from the rotation sensor 83, and calculates the rotation speed NM of the motor 1 based on the rotation angle θM.

  The variable threshold phase determination unit 61 is based on the pressure detection value P output from the pressure sensor 84, when the control spool 37 a that is advanced or retracted by the electromagnetic solenoid 37 b reaches the stroke end, that is, in the rotating mechanism 11, the blade portion 18. By determining whether or not a surge caused by a relatively sudden and temporary pressure increase that occurs when the roller contacts the protruding portion 21 is detected, the inner rotor 6 and the outer rotor 5 Whether the relative phase θ has reached the variable threshold phase (that is, the variable threshold phase on the advance side corresponding to the weak field state or the variable threshold phase on the retard side corresponding to the strong field state) Determine. Then, according to this determination result, “1” or “0” is set to the flag value of the phase flag indicating that the relative phase θ has reached the variable threshold phase, and the induced voltage constant is set using this phase flag as phase information. While outputting to the calculation part 62, the control instruction | command with respect to the pressure (hydraulic pressure) or flow volume of a hydraulic fluid is output to the phase control part 65.

  For example, the variable threshold phase determination unit 61 controls the start or stop of the operation of the oil pump 32 of the hydraulic control device 13 in accordance with the advance side command or the retard side command input from an external control device or the like. Is output to the phase control unit 65 and whether or not the EOP pressure (PEOP), which is the discharge pressure of the oil pump (EOP) 32, is equal to or higher than the predetermined pressure A based on the detected pressure value P output from the pressure sensor 84. And an advance angle command (electromagnetic solenoid advance angle command) or a retard angle command (electromagnetic solenoid delay angle command) for the advance / retreat operation of the electromagnetic solenoid 37b is output to the phase control unit 65 according to the determination result. To do.

Here, the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 is, for example, as shown in FIG. 8, an electrical angle that is a variable threshold phase on the retarded angle side corresponding to the strong field state. It is variable from 0 ° to a variable threshold phase on the advance side corresponding to the field-weakening state and an angle larger than the electrical angle of 180 ° by a predetermined angle (eg, electrical angle of 210 °). The change of the relative torque according to the relative phase θ is that the relative torque is greater than zero when the relative phase θ is 0 ° or more and less than 180 ° of the electrical angle, and the relative phase θ is The relative torque is set to zero when the angle is 180 °, and the relative torque is set to be smaller than zero when the relative phase θ is greater than the electrical angle of 180 ° and equal to or less than 210 ° of the electrical angle.
As a result, in the state where the relative phase θ has reached the retarded variable threshold phase (0 ° of electrical angle), this relative phase θ is maintained by the positive relative torque without requiring the pressure of the hydraulic fluid. On the other hand, in the state where the relative phase θ has reached the advanceable variable threshold phase (210 ° of electrical angle), the relative phase θ is maintained by the negative relative torque without requiring the pressure of the hydraulic fluid. It has become so.

  The induced voltage constant calculation unit 62 calculates an induced voltage constant Ke corresponding to the relative phase θ between the inner circumferential rotor 6 and the outer circumferential rotor 5 based on the phase information output from the variable threshold phase determination unit 61. . For example, when the induced voltage constant calculation unit 62 sets “1” in the flag value of the phase flag indicating that the relative phase θ has reached the variable threshold phase in the acquired phase information, the induced voltage constant Ke As described above, a predetermined variable threshold phase (advance side) Ke or a variable threshold phase (retard side) Ke is set. On the other hand, when the flag value of the phase flag is set to “0” and the relative phase θ is changed, for example, the induced voltage constant Ke is set to a predetermined variable threshold according to a predetermined change speed set in advance. A prospective coefficient for changing from the Ke at the phase (advance side) or the Ke at the variable threshold phase (retard side) is set, and in accordance with this expectation coefficient, for example, it is proportional or inversely proportional to a predetermined change speed. The induced voltage constant Ke is changed.

The induced voltage constant command output unit 63 outputs a command value (induced voltage constant command) Kec for the induced voltage constant Ke of the motor 1 based on, for example, the torque command Tq, the rotation speed NM of the motor 1, and the power supply voltage VB. .
The induced voltage constant difference calculation unit 64 subtracts the induced voltage constant Ke output from the induced voltage constant calculation unit 62 from the induced voltage constant command value Kec output from the induced voltage constant command output unit 63. A constant difference ΔKe is output.

For example, the phase control unit 65 controls the relative phase θ in accordance with the induced voltage constant difference ΔKe output from the induced voltage constant difference calculation unit 64 so that the induced voltage constant difference ΔKe is zero. Command θc is output.
Further, the phase control unit 65 controls the start or stop of the operation of the oil pump 32 of the hydraulic control device 13 according to the control command input from the variable threshold phase determination unit 61, and the advance / retreat of the electromagnetic solenoid 37b. Outputs an advance angle command (electromagnetic solenoid advance angle command) or a retard angle command (electromagnetic solenoid delay angle command) for the operation.

  The motor control apparatus (that is, the control apparatus 100a) according to this embodiment has the above-described configuration. Next, the operation of the control apparatus 100a, particularly the variable threshold phase determination process will be described.

The variable threshold phase determination process when the motor 1 is shifted to the field weakening state will be described below.
First, for example, in step S01 shown in FIG. 9, it is determined whether or not an advance side (weaker side shift) command is generated.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
In step S02, the operation of the oil pump (EOP) 32 is started, for example, at time t0 shown in FIG. Accordingly, the command value (induced voltage constant command) Kec for the induced voltage constant Ke is set to Ke at a predetermined variable threshold phase (advance side).

In step S03, it is determined whether or not the EOP pressure (PEOP), which is the discharge pressure of the oil pump (EOP) 32, is equal to or higher than a predetermined pressure A.
If the determination result is “NO”, the process of step S03 is repeated.
On the other hand, if this determination is “YES”, that is, if the EOP pressure PEOP has reached the predetermined pressure A at time t1 shown in FIG. 10, the process proceeds to step S04.

  In step S04, a change request for the relative phase θ, that is, a predetermined change speed set in advance with respect to the advance side (weaker side shift) command and the induced voltage constant Ke are set to a predetermined variable threshold phase (retard side). ) A prospective coefficient is set by a map search or the like with respect to a map showing a predetermined correspondence relationship with the expectation coefficient to be changed from the time Ke, and a period from time t1 to time t3 shown in FIG. Thus, an induced voltage constant Ke that gradually decreases is set.

  In step S05, an advance angle command (electromagnetic solenoid advance angle command) for the electromagnetic solenoid 37b is output, and hydraulic fluid is supplied into the advance angle working chamber 24 of the turning mechanism 11, for example, as shown in FIG. Like the pressure detection value P after the time t1 shown, the pressure by the working fluid (advance side pressure P_ADV) is generated in the advance side working chamber 24. Accordingly, for example, as shown in FIG. 10, the relative phase θ is changed from 0 ° of the electrical angle that is the variable threshold phase on the retard side corresponding to the strong field state to the advance angle corresponding to the weak field state. It is a variable threshold phase on the side and changes toward an angle larger than the electrical angle of 180 ° by a predetermined angle (for example, 210 ° of electrical angle).

  In step S06, a value (P-P0) obtained by subtracting the transition pressure P0 from the pressure detection value P is set as the pressure difference ΔP. Note that the transition pressure P0 is, for example, after the advance angle side pressure P_ADV temporarily increases with the output of the electromagnetic solenoid advance angle side command, such as the pressure detection value P after time t1 shown in FIG. The pressure value is continuously maintained over a relatively long period.

In step S07, it is determined whether or not the pressure difference ΔP is larger than a predetermined difference threshold B.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, when the determination result is “YES”, for example, as shown at time t3 in FIG. 10, the variable threshold phase (electrical phase on the advance side) in which the relative phase θ is larger than 180 ° of the electrical angle at time t2. It is determined that a surge due to a relatively sudden and temporary pressure increase has occurred due to the blade portion 18 coming into contact with the protruding portion 21 and the process proceeds to step S08.
In step S08, a predetermined variable threshold phase (advance side) Ke is set as the induced voltage constant Ke.

In step S09, for example, after time t3 shown in FIG. 10, the operation of the oil pump (EOP) 32 is stopped, and the series of processes is terminated.
Thus, for example, after time t3 shown in FIG. 10, the EOP pressure PEOP gradually decreases toward zero.
Note that the pressure detection value P output from the pressure sensor 84 when the relative phase θ is changed, for example, before the time t3 shown in FIG. 10 is greater than the pressure applied to the advance side working chamber 24 of the rotation mechanism 11. After the time t3 when the surge is generated, the detected pressure value P output from the pressure sensor 84 and the pressure C applied to the advance side working chamber 24 of the rotation mechanism 11 at time t4, for example. To match.

The variable threshold phase determination process when the motor 1 is shifted to the strong field state will be described below.
First, for example, in step S11 shown in FIG. 11, it is determined whether or not a retard side (strong side shift) command is generated.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S12.
In step S12, the operation of the oil pump (EOP) 32 is started, for example, at time t5 shown in FIG. Accordingly, the command value (induced voltage constant command) Kec for the induced voltage constant Ke is set to Ke at a predetermined variable threshold phase (retard side).

In step S13, it is determined whether or not an EOP pressure (PEOP) that is a discharge pressure of the oil pump (EOP) 32 is equal to or higher than a predetermined pressure A.
If the determination result is “NO”, the process of step S13 is repeated.
On the other hand, if this determination is “YES”, that is, if the EOP pressure PEOP has reached the predetermined pressure A as shown at time t6 in FIG.

  In step S14, a change request for the relative phase θ, that is, a predetermined change speed set in advance with respect to the retard side (stronger side shift) command and the induced voltage constant Ke are set to a predetermined variable threshold phase (advance side). ) A prospective coefficient is set by a map search or the like with respect to a map showing a predetermined correspondence with a prospective coefficient to be changed from the time Ke, and a period from time t6 to time t8 shown in FIG. Thus, an induced voltage constant Ke that gradually changes to an increasing tendency is set.

  Then, in step S15, a retard side command (electromagnetic solenoid retard side command) is output to the electromagnetic solenoid 37b, and hydraulic fluid is supplied into the retard side working chamber 25 of the turning mechanism 11, for example, as shown in FIG. Like the pressure detection value P after the time t6 shown, the pressure (retard side pressure P_RTD) by the working fluid is generated in the retard side working chamber 25. Thus, for example, as shown in FIG. 10, the relative phase θ is a variable threshold phase on the advance side corresponding to the field-weakening state, and is an angle (for example, an electrical angle) larger than the electrical angle of 180 ° by a predetermined angle. The angle changes from 210 ° of the angle toward the electrical angle of 0 ° which is the variable threshold phase on the retard side corresponding to the strong field state.

  In step S16, a value (P−P0) obtained by subtracting the transition pressure P0 from the pressure detection value P is set as the pressure difference ΔP. Note that the transition pressure P0 is, for example, after the retard side pressure P_RTD is temporarily increased in accordance with the output of the solenoid solenoid retard side command, like the detected pressure value P after time t6 shown in FIG. The pressure value is continuously maintained over a relatively long period.

In step S17, it is determined whether or not the pressure difference ΔP is larger than a predetermined difference threshold B.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, when the determination result is “YES”, the relative phase θ reaches the retarded variable threshold phase, for example, at time t8 shown in FIG. Thus, it is determined that a surge due to a relatively rapid and temporary pressure increase has occurred, and the process proceeds to step S18.
In step S18, a predetermined variable threshold phase (retard side) Ke is set as the induced voltage constant Ke.

In step S19, for example, at time t8 shown in FIG. 10, the operation of the oil pump (EOP) 32 is stopped, and the series of processing ends.
Thereby, for example, after time t8 shown in FIG. 10, the EOP pressure PEOP gradually decreases toward zero.
Note that the pressure detection value P output from the pressure sensor 84 when the relative phase θ is changed, for example, before the time t8 shown in FIG. 10 is greater than the pressure applied to the retard side working chamber 25 of the rotation mechanism 11. It shows a low value, and after time t8 when the surge occurs, the pressure detection value P output from the pressure sensor 84 and the pressure C applied to the retarding-side working chamber 25 of the rotation mechanism 11 coincide with each other. It has become.

  As described above, according to the motor control device of this embodiment, the blade portion 18 of the rotation mechanism 11 is either the advance side or the retard side based on the detected pressure value P output from the pressure sensor 84. It is possible to determine whether or not the protrusion 21 has come into contact, and the operation stop of the oil pump 32 is controlled according to the determination result, so that the relative phase θ between the outer circumferential rotor 5 and the inner circumferential rotor 6 is determined. An appropriate sensor (for example, a resolver or the like) that directly detects the pressure is omitted to simplify the apparatus configuration, prevent unnecessary energy consumption, and change the induced voltage constant Ke of the motor 1 by the pressure of the hydraulic fluid. Energy efficiency can be improved.

  The present invention is not limited to the above-described embodiment, and may be applied to, for example, an electric vehicle other than a hybrid vehicle, and is not limited to being applied to a vehicle, but is mounted on an appropriate device. You may apply to a motor.

1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. It is principal part sectional drawing of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most retarded angle position of the motor which concerns on embodiment of this invention. It is a disassembled perspective view of the rotor unit of the motor which concerns on embodiment of this invention. It is the side view which abbreviate | omitted some components of the rotor unit currently controlled to the most advanced angle position of the motor which concerns on embodiment of this invention. The figure (a) which shows typically the strong field state in which the permanent magnet of the inner peripheral side rotor and the permanent magnet of the outer peripheral side rotor of the motor which concern on embodiment of this invention are arrange | positioned with the same polarity, It is the figure which described collectively the figure (b) which shows typically the field-weakening state by which the permanent magnet of the side rotor and the permanent magnet of the outer peripheral side rotor were arrange | positioned differently. It is a block diagram of the hydraulic control apparatus which concerns on embodiment of this invention. It is a graph which shows the change of the relative torque according to relative phase (theta) which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement of the motor control apparatus which concerns on embodiment of this invention, especially the process of the variable threshold phase determination at the time of making a motor transfer to the field weakening state. It is a graph which shows an example of the time change of the phase flag which concerns on embodiment of this invention, the pressure detection value P, EOP pressure, and the induced voltage constant Ke. It is a flowchart which shows the operation | movement of the motor control apparatus which concerns on embodiment of this invention, especially the process of a variable threshold phase determination at the time of making a motor transfer to a strong field state.

Explanation of symbols

1 Motor 5 Outer rotor (other rotor)
6 Inner circumference rotor (one rotor)
12 phase change means 14 vane rotor 15 annular housing (housing)
16 Drive plate (end plate)
18 Blade 19 Recess 23 Introduction space (space)
24 Advance working chamber (pressure chamber)
25 Retarded working chamber (pressure chamber)
37b Electromagnetic solenoid (actuator)
61 Variable threshold phase determination unit (determination unit)
62 Induced voltage constant calculation unit (induced voltage constant changing means)

Claims (6)

A motor including a plurality of rotors capable of changing relative phases of each other;
A phase change means for changing the relative phase by the fluid pressure of the working fluid,
The phase changing means includes an actuator for controlling the fluid pressure in response to a change request for the relative phase, a pressure detecting means for detecting the fluid pressure, and a surge of the fluid pressure in accordance with a detection result of the pressure detecting means. And determining means for determining whether or not the relative phase has reached a predetermined variable threshold phase based on the detection result of the surge ,
The variable threshold phase is an angle that is larger than 180 ° in electrical angle by a predetermined angle,
The induced voltage constant is gradually changed according to the change of the relative phase, and when it is determined that the relative phase has reached the variable threshold phase in the determination result of the determination unit, the induced voltage constant is set to a predetermined value. motor control device according to claim Rukoto with the induced voltage constant changing means for setting. The motor control device according to claim 1 , wherein the induced voltage constant changing unit starts changing the induced voltage constant after the fluid pressure reaches a predetermined pressure or more. The phase changing means is formed integrally with one of the rotors, and is integrally formed with the other rotor, and forms a pressure chamber with the housing, and the phase changing means introduces the working fluid introduced into the pressure chamber. A vane rotor that changes a phase relative to the housing by fluid pressure, and
An end plate that transmits the driving force of the other rotor to the output shaft is fixed to both end sides in the axial direction of the other rotor and the vane rotor. 3. The motor control device according to claim 1, wherein the one rotor and the housing which are integral with each other are arranged so as to be rotatable in a circumferential direction. 4. The motor control according to claim 3 , wherein a blade portion formed in the vane rotor is accommodated in a concave portion formed in the housing, and the pressure chamber is formed by the blade portion and the concave portion. apparatus. 5. The motor control device according to claim 4 , wherein end plates fixed to both axial ends of the other rotor are respectively fixed integrally with the vane portion of the vane rotor. The motor control device according to any one of claims 3 to 5 , wherein end plates fixed to both ends in the axial direction of the other rotor are respectively fixed to the output shaft. .

Images